An X-by-wire chassis can improve the kinematic characteristics of human-vehicle closed-loop system and thus active safety especially under emergency scenarios via enabling chassis coordinated control. This paper aims to provide a complete and systematic survey on chassis coordinated control methods for full X-by-wire vehicles, with the primary goal of summarizing recent reserch advancements and stimulating innovative thoughts. Driving condition identification including driver's operation intention, critical vehicle states and road adhesion condition and integrated control of X-by-wire chassis subsystems constitute the main framework of a chassis coordinated control scheme. Under steering and braking maneuvers, different driving condition identification methods are described in this paper. These are the trigger conditions and the basis for the implementation of chassis coordinated control. For the vehicles equipped with steering-by-wire, braking-by-wire and/or wire-controlled-suspension systems, state-of-the-art chassis coordinated control methods are reviewed including the coordination of any two or three chassis subsystems. Finally, the development trends are discussed.

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Chassis Coordinated Control for Full X-by-Wire Vehicles-A Review

This paper reviews model predictive control (MPC) and its wide applications to both single and multiple autonomous ground vehicles (AGVs). On one hand, MPC is a well-established optimal control method, which uses the predicted future information to optimize the control actions while explicitly considering constraints. On the other hand, AGVs are able to make forecasts and adapt their decisions in uncertain environments. Therefore, because of the nature of MPC and the requirements of AGVs, it is intuitive to apply MPC algorithms to AGVs. AGVs are interesting not only for considering them alone, which requires centralized control approaches, but also as groups of AGVs that interact and communicate with each other and have their own controller onboard. This calls for distributed control solutions. First, a short introduction into the basic theoretical background of centralized and distributed MPC is given. Then, it comprehensively reviews MPC applications for both single and multiple AGVs. Finally, the paper highlights existing issues and future research directions, which will promote the development of MPC schemes with high performance in AGVs.

/pdf/model-predictive-control-for-autonomous-ground-vehicles-a-56lvlj6yog.pdf

Model predictive control for autonomous ground vehicles: a review

Estimation of sideslip angle and cornering stiffness of an articulated vehicle using a constrained lateral dynamics model

Integrated chassis control: Classification, analysis and future trends

Future vehicle localisation technologies enable major enhancements of vehicle dynamics control. This study proposes a novel vehicle stability control paradigm, based on pre-emptive control that con...

https://www.tandfonline.com/doi/pdf/10.1080/00423114.2021.1895229

On pre-emptive vehicle stability control

Controlling the lateral dynamics of an autonomous vehicle confronting a sudden obstacle requires optimal use of tires’ force capacities. In these situations, autonomous steering may not be able to respond fast enough to prevent collision or instability. This paper presents an integrated controller for autonomous vehicles, capable of suitably reacting to emergency situations when a sudden obstacle appears on the road. The proposed controller employs differential braking conservatively when needed, to produce an additional yaw moment, thereby improving a vehicle’s lateral agility and responsiveness without endangering vehicle stability. A longitudinal controller is also designed to track a desired longitudinal velocity. Model predictive control (MPC) method is used for developing a combined path planning and tracking controller with a hierarchical structure that prioritizes (1) collision avoidance, (2) vehicle stability, and (3) path tracking. The effectiveness of the proposed integrated MPC controller is evaluated by simulating an experimentally validated CarSim model to demonstrate the controller’s capability in preventing instability and collisions.

Integrated Steering and Differential Braking for Emergency Collision Avoidance in Autonomous Vehicles

Different types of instability modes in tractor-trailer vehicles, including jackknifing and snaking, necessitate designing a fast and effective control strategy. In this paper, a model predictive c...

Mehdi Abroshan

Papers

Integrated Steering and Differential Braking for Emergency Collision Avoidance in Autonomous Vehicles

Model predictive-based tractor-trailer stabilisation using differential braking with experimental verification